Precise blood vessel puncture mechanism

Abstract

The invention provides a precise blood vessel puncture mechanism, and relates to the technical field of medical instruments, and the precise blood vessel puncture mechanism comprises a vertical direction moving module, a rotating module, a binocular infrared module, an ultrasonic module and a puncture module. Through the binocular infrared module and the ultrasonic module, a target point conforming to vascular puncture in a space can be accurately searched and positioned. The vertical direction moving module and the rotating module can adjust the puncture angle and the needle inserting point of a puncture needle according to provided blood vessel and puncture point information, and the puncture module can set the puncture stroke and implement precise puncture operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical mechanical equipment, and more specifically, to a precise blood vessel puncture mechanism. Background Art

[0002] Vascular puncture is a clinical procedure for the purpose of drawing blood, testing, transfusion, infusion, and catheterization for angiography. It can also be used for interventional treatment. Common vascular punctures include femoral artery puncture, femoral vein puncture, subclavian artery and vein puncture, and radial artery puncture.

[0003] In modern biological and medical research, it has become a normal practice to understand human diseases through blood and treat diseases based on test results. Blood drawing is the process in which medical personnel collect blood samples through veins or arteries for testing or related needs.

[0004] Existing vascular puncture is usually performed manually, which completely relies on experience. In hospitals, blood collection stations and other places, the number of subjects to be punctured is large, and medical staff need to work for a long time. This long-term repetitive vascular puncture operation makes medical staff in a state of high concentration for a long time, which is easy to cause fatigue and lead to unexpected medical errors. Even if some equipment in the prior art, such as using an arm vein detector to distinguish the vein from the surrounding skin tissue to locate the puncture point, it still requires manual adjustment of the needle position and the needle inclination angle, and the use of a pulse pressure device and a vein imaging device to make it easier for medical staff to locate the blood vessel, but these are only to assist in finding the blood vessel and locating the blood vessel puncture point, and cannot actively perform the blood vessel puncture action.

[0005] The speed of puncture needs to follow the principle of two fasts and one slow, that is: fast when inserting the needle, slow when drawing blood, and fast when removing the needle. It is easy for the equipment to achieve a fixed puncture speed, but the speed of manual puncture varies from person to person, so the puncture effect is different. The depth of manual puncture is very dependent on the proficiency of the person. If the speed is fast, the puncture depth is difficult to control, and it is easy to penetrate and cause blood stasis; if the speed is slow, the puncture depth is relatively easy to control, but the patient's pain will increase, and the patient is prone to dodge due to pain, affecting the success rate of puncture. The angle range of manual puncture is relatively large. Different angles require different puncture strokes. Therefore, changes in the angle of manual puncture directly affect the success rate of puncture. The speed, force, and angle of puncture are difficult to match with each other for manual work, but puncture equipment can easily match these parameters with each other, giving patients a better puncture experience.

[0006] Currently, the puncture process is done manually, and it is very difficult for special groups such as the obese, the elderly and children to find the puncture position manually. In the existing technology, although the ultrasound probe-assisted puncture stent has a probe that accurately detects subcutaneous tissue, it is still manually punctured by medical staff, and the ultrasound probe-assisted stent only plays a simple navigation role and cannot accurately puncture.

[0007] In some automatic puncture machines, binocular infrared imaging principles are used to use industrial cameras to photograph the skin surface, locate the puncture site, and perform puncture. However, only the skin surface can be photographed, and subcutaneous tissue imaging cannot be performed, which reduces the adaptability of the automatic puncture machine to the population.

[0008] In other automatic puncture machines, the adjustment of the puncture angle is also limited. First, the adjustment angle range is not large enough. Second, it cannot be adjusted continuously and steplessly at any angle within the adjustable range. Since the linear motion is converted into rotational motion through connecting rods and other mechanisms and size limitations, in order to reach the target point of puncture, it can only be performed at certain specific angles, thus narrowing the range of target points that can be punctured.

[0009] In other automatic puncture machines, the angle adjustment of the rotating mechanism adopts a single-sided arc guide structure, and the puncture module is driven by the rotating module in a cantilever form, which makes the rotating module subject to an unbalanced load, which is not conducive to the overall stability and reliability. Long-term operation will reduce the overall accuracy of the puncture. Summary of the invention

[0010] The present invention provides a precise puncture mechanism to solve the problems raised in the above background technology.

[0011] In order to solve the above technical problems, the present invention discloses a precise blood vessel puncture mechanism, including a vertical movement module, a rotation module, a binocular infrared module, an ultrasound module, and a puncture module.

[0012] Through the binocular infrared module, the approximate direction of blood vessels and the depth information of the skin surface can be obtained, and the best location for puncturing the blood vessels can be determined through an algorithm.

[0013] Through the ultrasonic module, the diameter and depth information of the blood vessel can be further obtained, and the spatial coordinates of the optimal puncture point can be determined according to the relative spatial position relationship of the puncture mechanism, providing a basis for the puncture stroke of the puncture mechanism.

[0014] The vertical moving module and the rotating module can adjust the puncture angle and insertion point of the puncture needle according to the provided blood vessel and puncture point information. The puncture module can set the puncture stroke and perform precise puncture operations.

[0015] Compared with the prior art, the present invention provides a precise puncture mechanism with the following beneficial effects: The present invention uses a binocular infrared module and an ultrasonic module to obtain not only the three-dimensional contour information of blood vessels and skin surfaces, but also detailed information such as the diameter and depth of blood vessels. Not only can the optimal needle insertion point be determined with the help of an algorithm, but also the three-dimensional detailed coordinates of the optimal puncture end point of the needle tip in the blood vessel can be determined, thereby achieving "accurate vision" and providing a basis for precise puncture operations.

[0016] Through precise structural design, the vertical moving module and the rotating module can achieve "wide range" and "smooth, continuous and stepless" adjustment of the puncture angle and insertion point of the puncture needle according to the provided blood vessel and puncture point information, which greatly improves the selection range of blood vessel puncture points, selects the best puncture point in a larger range, and improves puncture accuracy.

[0017] The innovative double-guide arc rack design makes the force of the puncture module on the rotation module relatively balanced. Compared with the cantilever structure with only a single-side arc guide, the overall structural reliability and stability are greatly improved. The accuracy does not decrease after long-term operation, thereby implementing precise puncture operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0019] In the attached picture: Figure 1 is an axonometric view of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a front view of the present invention; Figure 4 is a side view of the present invention; Figure 5 and Figure 6 It is a structural schematic diagram of the rotating module of the present invention; Figure 7 It is a schematic diagram of the structure of the puncture module of the present invention.

[0020] In the figure:

[0021] 1. Vertical moving module; 101. Overall puncture mechanism mounting bracket; 102. Vertical moving module guide rail; 103. Vertical moving module slider; 104. Vertical moving module pinion; 105. Vertical moving module rack; 106. Vertical moving module drive motor; 107. Overall puncture mechanism mounting plate;

[0022] 2. Rotation module; 201. Arc gear guide rail; 202. Rotation gear; 203. Rotation guide precision bearing roller; 204. Rotation module mounting plate; 205. Rotation module motor mounting seat; 206. Rotation module drive motor; 207. Rotation module mounting back plate; 208. Rotation module mounting plate connector; 209. Rotation module sensor mounting plate; 210. Rotation module sensor; 211. Rotation module sensor light shield;

[0023] 3. Puncture module; 301. Puncture module mounting seat; 302. Precision ground screw; 303. Puncture connection seat; 304. Screw nut; 305. Screw fixed side bearing seat; 306. Coupling; 307. Puncture motor; 308. Slide rail of puncture module; 309. Puncture rotating module connector; 310. Puncture photoelectric sensor and baffle; 311. Force sensor; 312. Puncture needle; 313. Puncture needle clamp; 314. Screw support side bearing seat; 315. Clamp; 316. Force sensor connector;

[0024] 4. Ultrasonic module; 401. Ultrasonic fixing seat; 402. Ultrasonic probe;

[0025] 5. Binocular infrared module; 501. Binocular infrared fixing seat; 502. Binocular infrared camera; 503. Binocular infrared supplementary light source. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] Example 1

[0029] The embodiment of the present invention provides a precise blood vessel puncture mechanism, such as Figure 1-6 As shown, it includes a vertical movement module 1, a rotation module 2, a puncture module 3, an ultrasound module 4, and a binocular infrared module 5.

[0030] The working principle and beneficial effects of the above technical solution are: Through the binocular infrared module 5 and the ultrasonic module 4, not only the blood vessel and skin surface information can be obtained, but also the detailed information such as the diameter and depth of the blood vessel can be obtained. Not only the best needle insertion point can be determined, but also the spatial coordinates of the best puncture end point of the needle tip in the blood vessel can be determined, providing a basis for precise puncture operations.

[0031] Through precise structural design, the vertical moving module 1 and the rotating module 2 can achieve "wide range" and "smooth, continuous and stepless" adjustment of the puncture angle and insertion point of the puncture needle according to the provided blood vessel and puncture point information, which greatly improves the selection range of blood vessel puncture points, selects the best puncture point in a larger range, and improves puncture accuracy; the precisely designed puncture module 3 can ensure high-precision puncture stroke; the innovative double-guide arc rack design makes the force of the puncture module on the rotating module relatively balanced. Compared with the cantilever structure with only a single-side arc guide, the overall structural reliability and stability are greatly improved, and the accuracy does not decrease after long-term operation. The overall structural reliability and stability are extremely high, thereby implementing precise puncture operations.

[0032] At the same time, the force sensor can provide force feedback during the puncture process of the puncture needle. The change in the force of penetrating the blood vessel wall during the puncture process is used as feedback to judge whether the blood vessel wall has been penetrated. When the force exceeds the set range, the needle will be retracted to provide safety protection.

[0033] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. If these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A precise blood vessel puncture mechanism, characterized in that: It comprises a vertical movement module (1), a rotation module (2), a puncture module (3), an ultrasound module (4), and a binocular infrared module (5).

2. A precise blood vessel puncture mechanism according to claim 1, characterized in that: The binocular infrared module (5) can obtain the approximate direction of the blood vessels and the three-dimensional contour information of the skin surface, and determine the best position for puncturing the blood vessels and the best needle insertion point through an algorithm.

3. A precise blood vessel puncture mechanism according to claim 1, characterized in that: The ultrasound module (4) can further obtain information on the diameter and depth of the blood vessel, and determine the spatial coordinates of the optimal puncture end point of the needle tip in the blood vessel based on the relative spatial position relationship of the puncture mechanism, thereby providing a basis for the puncture stroke of the puncture mechanism and providing a basis for accurate puncture operations.

4. The precise blood vessel puncture mechanism according to claim 1, characterized in that: The vertical moving module (1) comprises an integral puncture mechanism mounting bracket (101), a vertical moving module guide rail (102), a vertical moving module slider (103), a vertical moving module pinion (104), a vertical moving module rack (105), an integral puncture mechanism mounting plate, a vertical moving module driving motor (106), and a vertical moving module pinion (107); the vertical moving module (1) can be driven by the vertical moving module driving motor (106) to drive the rotating module (2) and the puncture module (3) as a whole to move vertically through the vertical moving module pinion (104) and the vertical moving module rack (105), so as to adjust the puncture needle insertion point in the vertical direction to adapt to different puncture points and puncture angles.

5. The precise blood vessel puncture mechanism according to claim 1, characterized in that: The rotating module (2) comprises an arc-shaped gear guide rail (201), a rotating gear (202), a rotating guide precision bearing roller (203), a rotating module mounting plate (204), a rotating module motor mounting seat (205), a rotating module driving motor (206), a rotating module mounting back plate (207), a rotating module mounting plate connecting piece (208), a rotating module sensor mounting plate (209), a rotating module sensor (210), and a rotating module sensor light shield (211); the rotating module (2) can be mounted on a rotating module driving plate Driven by the motor (206), the entire puncture module (3) is driven to perform "wide-range" and "smooth, continuous and stepless" angular rotation through the rotating gear (202) and the arc-shaped gear guide rail (201); and the arc-shaped gear guide rail (201) adopts an innovative double-guide arc-shaped rack design, so that the force of the puncture module (3) on the rotating module (2) is relatively balanced. Compared with the cantilever structure with only a single-side arc-shaped guide rail, the reliability and stability of the overall structure are greatly improved, and the accuracy does not decrease after long-term operation, thereby implementing a precise puncture operation.

6. The precise blood vessel puncture mechanism according to claim 1, characterized in that: The puncture module (3) comprises a puncture module mounting seat (301), a precision ground screw (302), a puncture connecting seat (303), a screw nut (304), a screw fixed side bearing seat (305), a coupling (306), a puncture motor (307), a puncture module slider guide rail (308), a puncture rotating module connecting piece (309), a puncture photoelectric sensor and a baffle (310), a force sensor (311), a puncture needle (312), and a puncture needle clamp (3 13), screw support side bearing seat (314), clamping claw (315), force sensor connector (316); the puncture motor (307) drives the precision ground screw (302) to rotate through the coupling (306), thereby driving the screw nut (304) to move, and the screw nut (304) and the puncture connector (303) are connected together, and the power sensor (311), the puncture needle (312) and the puncture needle clamp (313) move together to puncture and retract. The puncture photoelectric sensor calibrates the zero point of the motor. The puncture motor (307) itself is a high-performance servo motor with a high-precision encoder, thereby ensuring the high precision of the entire puncture stroke. The force sensor provides real-time force feedback to the puncture needle during the puncture process, and the entire puncture mechanism is adjusted in real time according to the force feedback data to ensure the high precision of the puncture.

7. The precise blood vessel puncture mechanism according to claim 1, characterized in that: The vertical movement module (1) and the rotation module (2) can adjust the puncture angle and the insertion point of the puncture needle in a "wide range" and "smoothly, continuously and steplessly" according to the provided blood vessel puncture point information, which greatly improves the selection range of blood vessel puncture points, selects the best puncture point in a larger range, and improves the puncture accuracy; the precisely designed puncture module (3) can ensure a high-precision puncture stroke; the rotation module (2) adopts an innovative double-guide arc rack design, so that the force of the puncture module (3) on the rotation module (2) is relatively balanced. Compared with the cantilever structure with only a single-side arc guide, the overall structural reliability and stability are greatly improved, and the accuracy does not decrease after long-term operation, thereby implementing a precise puncture operation.

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